Orientation-inidicating machine readable coded data

ABSTRACT

Machine-readable coded data disposed on or in a substrate. The coded data includes a layout having order n rotational symmetry, formed from n identical sub-layouts rotated 1/n revolutions apart about a center of rotation. The layout encodes a first codeword formed from a sequence of a multiple m of n first symbols, with each sub-layout defining respective positions for each of m first symbols, such that the m first symbols uniquely identify each sub-layout. Decoding the first symbols provided at one or more of the respective locations within each sub-layout is therefore indicative of the degree of rotation of the layout.

CO-PENDING APPLICATIONS

[0001] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following US applications co-filed by theapplicant or assignee of the present invention:

[0002] U.S. Ser. No. 10/410,484 entitled “Symmetric Tags”;

[0003] U.S. Ser. No. 10/409,876 entitled “Methods and Systems for ObjectIdentification and Interaction”;

[0004] U.S. Ser. No. 10/409,848 entitled “Methods and Systems for ObjectIdentification and Interaction”; and

[0005] U.S. Ser. No. 10/409,845 entitled “Methods and Systems for ObjectIdentification and Interaction”.

[0006] The disclosures of these co-filed applications are incorporatedherein by cross-reference.

[0007] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following application filed by theapplicant or assignee of the present invention on 7 Apr. 2003:Australian Provisional Application No 2003901617 entitled “Methods andSystems for Object Identification and Interaction”. The disclosures ofthis co-pending application are incorporated herein by cross-reference.

[0008] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending PCT applicationsfiled by the applicant or assignee of the present invention on 4 Dec.2002: U.S. Ser. No. 10/309,358 entitled “Rotationally Symmetric Tags”.The disclosures of these co-pending applications are incorporated hereinby cross-reference.

[0009] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending PCT applicationsfiled by the applicant or assignee of the present invention on 22 Nov.2002:

[0010] PCT/AU02/01572 and PCT/AU/02/01573.

[0011] The disclosures of these co-pending applications are incorporatedherein by cross-reference.

[0012] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending PCT applicationsfiled by the applicant or assignee of the present invention on 15 Oct.2002:

[0013] PCT/AU02/01391, PCT/AU02/01392, PCT/AU02/01393, PCT/AU02/01394and PCT/AU02/01395.

[0014] The disclosures of these co-pending applications are incorporatedherein by cross-reference.

[0015] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending PCT applicationsfiled by the applicant or assignee of the present invention on 26 Nov.2001:

[0016] PCT/AU01/01527, PCT/AU01/01528, PCT/AU01/01529, PCT/AU01/01530and PCT/AU01/01531.

[0017] The disclosures of these co-pending applications are incorporatedherein by cross- reference.

[0018] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending PCT applicationfiled by the applicant or assignee of the present invention on 11 Oct.2001: PCT/AU01/01274. The disclosures of this co-pending application areincorporated herein by cross-reference.

[0019] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending PCT applicationfiled by the applicant or assignee of the present invention on 14 Aug.2001: PCT/AU01/00996. The disclosures of this co-pending application areincorporated herein by cross-reference.

[0020] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending US applicationsfiled by the applicant or assignee of the present invention on 27 Nov.2000:

[0021] 09/721895, 09/721894, 09/722174, 09/721896, 09/722148, 09/722146,09/721861, 09/721892, 09/722171, 09/721858, 09/722142, 09/722087,09/722141, 09/722175, 09/722147, 09/722172, 09/721893, 09/722088,09/721862, 09/721856, 09/721857, 09/721859, 09/721860

[0022] The disclosures of these co-pending applications are incorporatedherein by cross-reference.

[0023] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending US applicationsfiled by the applicant or assignee of the present invention on 20 Oct.2000:

[0024] 09/693415, 09/693219, 09/693280, 09/693515, 09/693705, 09/693647,09/693690, 09/693593, 09/693216, 09/693341, 09/696473, 09/696514,09/693301, 09/693388, 09/693704 09/693510, 09/693336, 09/693335

[0025] The disclosures of these co-pending US applications areincorporated herein by cross-reference.

[0026] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending US applicationsfiled by the applicant or assignee of the present invention on 15 Sep.2000:

[0027] 09/663579, 09/669599, 09/663701, 09/663640

[0028] The disclosures of these co-pending applications are incorporatedherein by cross-reference.

[0029] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending US applicationsfiled by the applicant or assignee of the present invention on 30 Jun.2000:

[0030] 09/609139, 09/608970, 09/609039, 09/607852, 09/607656, 09/609132,09/609303, 09/610095, 09/609596, 09/607843, 09/607605, 09/608178,09/609553, 09/609233, 09/609149, 09/608022, 09/609232, 09/607844,09/607657, 09/608920, 09/607985, 09/607990 09/607196, 09/606999

[0031] The disclosures of these co-pending applications are incorporatedherein by cross-reference.

[0032] Various methods, systems and apparatus relating to the presentinvention are disclosed in the following co-pending US applicationsfiled by the applicant or assignee of the present invention on 23 May2000:

[0033] 09/575197, 09/575195, 09/575159, 09/575132, 09/575123, 09/575148,09/575130, 09/575165, 09/575153, 09/575118, 09/575131, 09/575116,09/575144, 09/575139, 09/575186, 09/575185, 09/575191, 09/575145,09/575192, 09/575181, 09/575193, 09/575156, 09/575183, 09/575160,09/575150, 09/575169, 09/575184, 09/575128, 09/575180, 09/575149,09/575179, 09/575187, 09/575155, 09/575133, 09/575143, 09/575196,09/575198, 09/57578 09/575164, 09/575146, 09/575174, 09/575163,09/575168, 09/575154, 09/575129, 09/575124, 09/575188, 09/575189,09/575162, 09/575172, 09/575170, 09/575171, 09/575161, 09/575141,09/575125, 09/575142, 09/575140, 09/575190, 09/575138, 09/575126,09/575127, 09/575158, 09/575117, 09/575147, 09/575152, 09/575176,09/575115, 09/575114, 09/575113, 09/575112, 09/575111, 09/575108,09/575109, 09/575110

[0034] The disclosures of these co-pending applications are incorporatedherein by cross-reference.

FIELD OF INVENTION

[0035] This invention relates to orientation-indicating cyclic positioncodes and their use in the position-coding of surfaces.

BACKGROUND

[0036] It is known to provide one or more coded data structures on asurface that can be read and decoded by a suitable sensing device.Various embodiments of such a device incorporating an optical sensor aredescribed in many of the documents incorporated into the presentapplication by cross-reference.

[0037] The coded data structures disclosed in these documents includetarget features that enable the sensing device to identify the positionof each structure. The relative positions of the features within eachstructure can also be interpreted to determine perspective distortion ofthe structure as sensed, enabling perspective correction to be performedon the sensed data. However, to enable the sensing device to decode thedata in the structure, it is necessary that the rotational orientationof the structure -be determined. Typically, -this is achieved-byproviding at- - least one feature that is rotationally asymmetric insome way. For example, in one embodiment, a keyhole-shaped feature isprovided that can be located with respect to the other features, andthen recognised to ascertain the rotational orientation of the structurein relation to the sensing device. The actual data that is encoded inthe data structure can then be decoded, since its position in the datastructure can be inferred from the structure's position and rotationalorientation.

[0038] Disadvantages with this arrangement include the need to dedicatespace to one or more orientation features, and the difficulty ofincluding redundancy in such features for the purposes of allowingrotational orientation determination in the presence of damage to thefeatures. It is desirable, therefore, to encode orientation informationboth more space-efficiently and in an error-detectable and/orerror-correctable fashion.

SUMMARY OF THE INVENTION

[0039] According to a first aspect of the present invention there isdisclosed machine-readable coded data disposed on or in a substrate inaccordance with a layout, the layout having at least order n rotationalsymmetry, where n is at least two, the layout encoding an orientationcodeword comprising a sequence of an integer multiple m of n symbols,where m is one or more, each encoded symbol being distributed at nlocations about a center of rotational symmetry of the layout such thatdecoding the symbols at each of the n orientations of the layoutproduces n representations of the orientation codeword, eachrepresentation comprising a different cyclic shift of the orientationcodeword and being indicative of the degree of rotation of the layout,and wherein the orientation codeword is fault tolerant.

[0040] Preferably, the orientation codeword is sufficiently faulttolerant such that each representation of the orientation codeword canbe accurately decoded even if one of its symbols is corrupted.

[0041] Preferably, the orientation codeword is sufficiently faulttolerant such that each representation of the orientation codeword canbe accurately decoded even if two or more of its symbols are corrupted.

[0042] Preferably, the layout is repeated on the substrate within alayout region.

[0043] Preferably, the layout region comprises a plurality of layouts oftwo or more layout types, each layout encoding its layout type.

[0044] Preferably, the machine-readable coded data encodes a distributedcodeword wherein fragments of-the distributed codeword are distributedbetween the two or more layout types in a predetermined manner such thatthe distributed codeword can be reconstructed from fragments located ina plurality of adjacent layouts of different types. More preferably, thenumber of layout types is one of 2, 3, 4 and 6.

[0045] Preferably, the layout encodes a local codeword wherein fragmentsof the local codeword are distributed within the layout in apredetermined manner such that the local codeword can be reconstructedfrom the fragments.

[0046] In one form, the layouts are packed together on the substrate.

[0047] Preferably, the layout is any of the following in shape:

[0048] linear;

[0049] square;

[0050] rectangular;

[0051] triangular; or

[0052] hexagonal.

[0053] Preferably, n is one of 2, 3, 4 and 6.

[0054] Preferably, the machine-readable coded data includes one or moretarget features for enabling preliminary location and rotation of thelayout to be determined by a machine used to read the coded data.

[0055] Preferably, the target features are configured to enableperspective correction of the coded data of the, or each, layout uponreading by the machine. More preferably, the machine-readable coded dataincludes at least four of the target features.

[0056] Preferably, the machine-readable coded data includes a pluralityof the layouts, wherein at least some of the target features are sharedby at least two of the layouts.

[0057] Preferably, the coded data is printed onto the substrate.

[0058] Preferably, the coded data is printed onto the surface in inkthat is of low-visibility or is invisible to an average unaided humaneye. More preferably, the ink is an infrared ink that is substantiallyinvisible to an average unaided human eye.

[0059] Preferably, the coded data of each layout defines user data.

[0060] Preferably, the user data includes location data indicative of aposition of the layout pattern relative to a region of the surface.

[0061] Preferably, the user data includes identification dataidentifying a region of the surface within which the layout is disposed.

[0062] Preferably, the user data includes function data identifying afunction to be performed upon reading of the layout pattern orsub-pattern by the machine.

[0063] According to a second aspect of the present invention there isdisclosed a surface bearing machine-readable coded data as disclosed inthe preceding paragraphs.

[0064] Preferably, the surface is flat or curved.

[0065] Preferably, the surface further includes visible markings. Morepreferably, the visible markings include any one or more of thefollowing:

[0066] text;

[0067] graphics;

[0068] images;

[0069] forms;

[0070] fields; and

[0071] buttons.

[0072] Preferably, the visible marking are disposed adjacent to, orcoincident with, at least some of the coded data.

[0073] Preferably, the surface is defined by a substrate. Morepreferably, the substrate is paper, card or another laminar medium.

[0074] Preferably, the surface is configured for use as an interfacesurface for enabling user interaction with a computer.

[0075] According to a third aspect of the present invention there isdisclosed a method of generating an interface surface, including thesteps of:

[0076] receiving, in a printer, user data;

[0077] generating machine-readable coded data incorporating the userdata, as disclosed in the preceding paragraphs; and

[0078] printing the coded data onto a substrate.

[0079] Preferably, the method further includes the step of printingvisible markings on the substrate.

[0080] Preferably, the coded data and visible markings are printed ontothe substrate substantially simultaneously.

[0081] According to a fourth aspect of the present invention there isdisclosed a method of using a sensing device to read machine-readablecoded data as disclosed in the preceding paragraphs, the methodincluding the steps of:

[0082] (a) reading, using the sensing device, the coded data of thelayout;

[0083] (b) decoding the coded data of the layout, thereby determining atleast the representation of the orientation codeword; and

[0084] (c) using the representation of the orientation codeword todetermine a degree of rotation of the layout.

[0085] Preferably, step (a) includes the substeps of:

[0086] imaging the substrate to generate an image thereof;

[0087] processing the image to locate one or more target features of thecoded data; and

[0088] on the basis of the located target features, determining aposition of at least one of the encoded symbols of the orientationcodeword.

BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Preferred and other embodiments of the invention will now bedescribed, by way of non-limiting example only, with reference to theaccompanying drawings, in which:

[0090]FIG. 1 shows a first embodiment of a tag structure according tothe invention;

[0091]FIG. 2 shows a symbol unit cell of the tag structure of FIG. 1;

[0092]FIG. 3 shows an array of symbol unit cells;

[0093]FIG. 4 is a schematic illustrating symbol bit ordering;

[0094]FIG. 5 shows the pattern of a tag with every bit set;

[0095]FIG. 6 shows the layout of an orientation-indicating cyclicposition codeword;

[0096]FIG. 7 shows the layout of three local codewords;

[0097]FIG. 8 shows interleaved fragments of distributed codewords D, Eand F with a fragment of codeword D shown shaded;

[0098]FIG. 9 shows three adjacent tags P, Q and R containing a completeset of distributed codewords D, E and F with codeword D shown shaded;

[0099]FIG. 10 shows the continuous tiling of tags P, Q and R;

[0100]FIG. 11 shows the complete structure of three adjacent tags,including their orientation cyclic position codewords, local codewordsand distributed codewords;

[0101]FIG. 12 shows the geometry of a tag segment;

[0102]FIG. 13 shows the preferred spacing d=(1−{square root}{square rootover (3)}×′2)s between tag segments, required to maintain consistentspacing between macrodots;

[0103]FIG. 14 shows the effect of the inter-segment spacing d on targetposition;

[0104]FIG. 15 shows the nominal relationship between the tag coordinatespace and the surface x-y coordinate space;

[0105]FIG. 16 shows a tag coordinate grid superimposed on the tagtiling;

[0106]FIG. 17 shows a tag and its six immediate neighbours, eachlabelled with its corresponding bit index in the active area map and theinput area map;

[0107]FIG. 18 shows a preferred embodiment of a PEC unit cell compatiblewith the present surface coding, superimposed on a tiling of tags;

[0108]FIG. 19 shows a preferred embodiment of a PEC unit cellsuperimposed on actual P, Q and R type tag structures;

[0109]FIG. 20 shows a preferred minimal imaging field of view requiredto guarantee acquisition of an entire tag; and

[0110]FIG. 21 shows a tag image processing and decoding process flow.

DESCRIPTION OF PREFERRED AND OTHER EMBODIMENTS

[0111] This document defines the surface coding used by the netpagesystem (as disclosed in the present applicants’ co-pending PCTapplication publication number WO 01/22207—Method and System forInstruction of a Computer, the contents of which are herein incorporatedby reference) to imbue otherwise passive surfaces with interactivity inconjunction with netpage sensing devices such as the netpage pen (asdisclosed in the present applicants' co-pending PCT applicationpublication number WO 00/72230—Sensing Device, the contents of which areherein incorporated by reference) and the netpage viewer (as disclosedin the present applicant' co-pending PCT application publication numberWO 01/41046—Viewer with Code Sensor, the contents of which are hereinincorporated by reference).

[0112] When interacting with a netpage coded surface, a netpage sensingdevice generates a digital ink stream which indicates both the identityof the surface region relative to which the sensing device is moving,and the absolute path of the sensing device within the region.

[0113] 1. Surface Coding

[0114] The netpage surface coding consists of a dense planar tiling oftags. Each tag encodes its own location in the plane. Each tag alsoencodes, in conjunction with adjacent tags, an identifier of the regioncontaining the tag. In the netpage system, the region typicallycorresponds to the entire extent of the tagged surface, such as one sideof a sheet of paper.

[0115] Each tag is represented by a pattern which contains two kinds ofelements. The first kind of element is a target. Targets allow a tag tobe located in an image of a coded surface, and allow the perspectivedistortion of the tag to be inferred. The second kind of element is amacrodot. Each macrodot encodes the value of a bit by its presence orabsence.

[0116] The pattern is represented on the coded surface in such a way asto allow it to be acquired by an optical imaging system, and inparticular by an optical system with a narrowband response in thenear-infrared. The pattern is typically printed onto the surface using anarrowband near-infrared ink.

[0117] 1.1 Tag Structure

[0118]FIG. 1 shows the structure of a complete tag 700. Each of the sixblack circles 702 is a target. The tag, and the overall pattern, issix-fold symmetric at the physical level.

[0119] Each diamond-shaped region 704 represents a symbol, and eachsymbol represents four bits of information.

[0120]FIG. 2 shows the structure of a symbol. It contains four macrodots706, each of which represents the value of one bit by its presence (one)or absence (zero).

[0121] The macrodot spacing is specified by the parameter s throughoutthis document. It has a nominal value of 143 μm, based on 9 dots printedat a pitch of 1600 dots per inch. However, it may vary within definedbounds according to the capabilities of the device used to produce thepattern.

[0122] In general, if a surface is coded with a pattern which deviatesfrom the “ideal” pattern specified in this document, e.g. due to devicelimitations, then the deviation must be recorded so that any digital inkcaptured via the surface can be appropriately corrected for thedeviation.

[0123]FIG. 3 shows an array of five adjacent symbols. The macrodotspacing is uniform both within and between symbols.

[0124]FIG. 4 shows the ordering of the bits within a symbol. Bit zero isthe least significant within a symbol; bit three is the mostsignificant. Note that this ordering is relative to the orientation ofthe symbol. The orientation of a particular symbol within the tag isindicated by the orientation of the label of the symbol in the tagdiagrams (see FIG. 1, for example). In general, the orientation of allsymbols within a particular segment of the tag have the sameorientation, consistent with the bottom of the symbol being closest tothe centre of the tag.

[0125] In the preferred embodiment only the macrodots are part of therepresentation of a symbol in the pattern. The diamond-shaped outline ofa symbol is used in this document to more clearly elucidate thestructure of a tag. FIG. 5, by way of illustration, shows the actualpattern of a tag with every bit set. Note that, in the preferredembodiment, every bit of a tag can never be set in practice.

[0126] A macrodot is nominally circular with a nominal-diameter of(5′9)s. However, it may vary within defined bounds according to thecapabilities of the device used to produce the pattern.

[0127] A target is nominally circular with a nominal diameter of(17′9)s. However, it may vary within defined bounds according to thecapabilities of the device used to produce the pattern.

[0128] Each symbol shown in the tag structure in FIG. 1 has a uniquelabel. Each label consists of an alphabetic prefix and a numeric suffix.

[0129] 1.2 Error Detection and Correction

[0130] Assume the data to be coded is broken into k-symbol blocks, withthe q-ary symbols taken from the Galois field GF(q). The collection ofall possible k-tuples m=(m₀, m₁, . . . , m_(k−1)) forms a vector spaceover GF(q), containing q^(k) possible vectors. A corresponding blockerror code C of length n consists of a set of M n-symbol codewords {c₀,c₁, . . . , c_(M−1)}, where M=q^(k) and n>k, with each codeword of theform c=(c₀, c₁, . . . , c_(n−1)). Given a data block to be encoded, theencoder maps the data block onto a codeword in C. Since the collectionof all possible n-tuples over GF(q) contains q^(n) vectors, but thereare only M=q^(k) codewords, the code contains redundancy. This isexpressed logarithmically by r=n−log_(q)M=n−k, or by the code rateR=k′n. The code C is a linear code if it forms a vector subspace overGF(q), i.e. if it is closed under addition and under multiplication by ascalar (and thus contains the zero vector). The code is then said tohave dimension k and is referred to as an (n, k) code.

[0131] The Hamming distance between two codewords is the number ofsymbols in which the two codewords differ. The minimum distance d_(min)of a block code is the smallest Hamming distance of any pair of distinctcodewords in the code. The maximum distance d_(max) is the largestHamming distance of any pair of distinct codewords in the code.

[0132] An error pattern introduces symbol errors into a codeword. It ischaracterized by its weight, i.e. the number of symbols it corrupts. Foran error pattern to be undetectable, it must cause a codeword to looklike another codeword. A code with a minimum distance of d_(min) canthus detect all error patterns of weight less than or equal tod_(min)−1. Although a given code can detect many error patterns withgreater weights, this provides a limit on the weight for which a codecan detect all error patterns.

[0133] Given a sampled word possibly corrupted by an error pattern, thedecoder maps the sampled word onto a codeword in C in such a way as tominimize the probability that the codeword is different from thecodeword originally written, and then maps the codeword onto a datablock. In the absence of a more specific characterization, it is assumedthat lower-weight error patterns are more likely than higher-weighterror patterns, and that all error patterns of equal weight are equallylikely. The maximum likelihood written codeword is thus the codewordwhich is closest in Hamming distance to the sampled word. If the sampledword is closer to an incorrect codeword than the correct (written)codeword, then the decoder commits an error. Since codewords are bydefinition at least a distance d_(min) apart, decoder errors are onlypossible if the weight of the error pattern is greater than or equal tod_(min)′2. A maximum likelihood decoder can thus correct all errorpatterns of weight less than or equal to └(d_(min)−1)′2┘. Equivalently,the decoder can correct t errors so long as 2t<d_(min).

[0134] The minimum distance of a linear code is limited by the Singletonbound: d_(min)≦n−k+1. Codes which satisfy the Singleton bound withequality are called maximum- distance separable (MDS). Reed-Solomoncodes (see Wicker, S. B. and V. K. Bhargava, eds., Reed-Solomon Codesand Their Applications, IEEE Press, 1994, the contents of which areherein incorporated by reference) are the most commonly-used MDS codes.No binary codes are MDS.

[0135] An erasure is a symbol of a sampled word assumed to have beencorrupted. Since its position in the codeword is known, it can beignored for the purposes of decoding rather than being treated as anerror. For example, the distance between the erased symbol in thesampled word and the corresponding symbol in a codeword is not includedin the Hamming distance used as the basis for maximum likelihooddecoding. Each erasure thus effectively reduces the minimum distance byone, i.e., in the presence off erasures, up to └(d_(min)−f−1)′2 ┘ errorscan be corrected. Equivalently, the decoder can correct t errors and ferasures so long as 2t+f<d_(min). For an MDS code this becomes2t+f<n−k+1.

[0136] A code is systematic if each of its codewords contains, withoutmodification, its corresponding data block at a fixed location. It isthen possible to distinguish between the data (or message) coordinatesof the code and the redundancy (or parity) coordinates of the code.

[0137] The rate of a linear code can be increased by puncturing thecode, i.e. by deleting one or more of its redundancy coordinates. By thedeletion of g coordinates, an (n, k) code is transformed into an (n−g,k) code. The minimum distance of the punctured code is d_(min)−g .Clearly, if d_(min)−g<2 puncturing destroys the code's ability tocorrect even one error, while if d_(min)−g<2, it destroys the code'sability to detect even one error. Equivalently, the length w=n−g of thepunctured code must obey w≧n−d_(min)+1 to be error-detecting, andw≧n−d_(min)+2 to be error-correcting. The decoder for a punctured codecan simply treat deleted coordinates as erasures with respect to theoriginal code.

[0138] A block code C is a cyclic code if for every codeword c=(c₀, c₁,. . . , c_(n−2), c_(n−1))ε C, there is also a codeword c′=(c_(n−1), c₀,c₁, . . . , c_(n−2))εC, i.e. c′ is a right cyclic shift of c. It followsthat all n cyclic shifts of c are also codewords in C. If the number ofcodewords q^(k) exceeds the length of the code n, then the code containsa number of distinct cycles, with each cycle i containing s_(i) uniquecodewords, where s_(i) divides n. If the code contains the zero vector,then the zero vector forms its own cycle.

[0139] 1.3 Orientation-Indicating Cyclic Position Code

[0140] The tag contains a 2⁴-ary (6, 1) cyclic position codeword (asdisclosed in the present Applicants' co-pending PCT applicationpublication number WO 02/084473—Cyclic Position Codes, the contents ofwhich are herein incorporated by reference) which can be decoded at anyof the six possible orientations of the tag to determine the actualorientation of the tag. Symbols which are part of the cyclic positioncodeword have a prefix of “R” and are numbered 0 to 5 in order ofincreasing significance.

[0141] The cyclic position codeword is (0, 5, 6, 9, A₁₆, F₁₆). Note thatit only uses six distinct symbol values, even though a four-bit symbolhas sixteen possible values. Any unused symbol value detected duringdecoding is treated as an erasure. Note that the actual symbol orderingwithin the codeword is not critical, nor is the composition of thesubset of symbol values actually used. However, it is advantageous tochose a subset which maximises the minimum inter-symbol distance, sincethis helps ensure that a bit error is more likely to cause an erasurethan a symbol error. This is advantageous because the erasure-correctingcapacity of the code is roughly twice its error-correcting capacity (asdiscussed below).

[0142] The layout of the orientation-indicating cyclic position codewordis shown in FIG. 6 in which the codeword is shown shaded.

[0143] The minimum distance of the cyclic position code is 6, hence itserror-correcting capacity is two symbols in the presence of up to oneerasure, one symbol in the presence of two or three erasures, and nosymbols in the presence of four or more erasures.

[0144] Table 1 shows the Hamming distance between the first codeword ofthe cyclic position code and each of the codewords of the code, computedwith a single symbol error successively in each of the six possiblelocations in the codeword. In each case the corrupted symbol isindicated by ♦. For worst-case purposes the symbol is assumed to havebeen corrupted to the corresponding symbol of each of the othercodewords. Whereas the distance between the corrupted codeword and itsuncorrupted original is one in each case, the distance between thecorrupted codeword and each of the other codewords is five in each case.Since every codeword is some cyclic shift of the first codeword, thetable demonstrates the ability of the code to correct any single symbolerror in any codeword.

[0145] By extension, it can be seen that in the presence of any twosymbol errors the distance between the corrupted codeword and itsuncorrupted original increases to two in each case, and the distancebetween the corrupted codeword and each of the other codewords decreasesto four in each case. The table therefore also demonstrates the abilityof the code to correct any double symbol errors in any codeword. This isillustrated in Table 2. TABLE 1 Cyclic position code distances in thepresence of one error codeword 0569AF 569AF0 69AF05 9AF056 AF0569 F0569A0569A♦ 1 5 5 5 5 5 0569♦F 1 5 5 5 5 5 056♦AF 1 5 5 5 5 5 05♦9AF 1 5 5 55 5 0♦69AF 1 5 5 5 5 5 ♦569AF 1 5 5 5 5 5

[0146] TABLE 2 Cyclic position code distances in the presence of twoerrors codeword 0569AF 569AF0 69AF05 9AF056 AF0569 F0569A 0569♦♦ 2 4 4 44 4 056♦♦F 2 4 4 4 4 4 05♦♦AF 2 4 4 4 4 4 0♦♦9AF 2 4 4 4 4 4 ♦♦69AF 2 44 4 4 4 ♦569A♦ 2 4 4 4 4 4

[0147] The same distance calculations can be performed in the presenceof one or more erasures by simply ignoring the erased coordinate(s).This is illustrated in Table 3, where a single erasure is indicated by−. TABLE 3 Cyclic position code distances in the presence of one errorand one erasure codeword −569AF −69AF0 −9AF05 −AF056 −F0569 −0569A−569A♦ 1 4 4 4 4 4 −569♦F 1 4 4 4 4 4 −56♦AF 1 4 4 4 4 4 −5♦9AF 1 4 4 44 4 −♦69AF 1 4 4 4 4 4 −569AF 0 5 5 5 5 5

[0148] Decoding a sampled cyclic position codeword consists of detectingany erasures and then calculating the distance between the remaining(un-erased) symbols and the corresponding symbols in the six cyclicshifts of the original cyclic position codeword. The sampled codeword isthen decoded as the shifted codeword which is closest in distance fromthe sampled codeword. Decoding fails if more than one shifted codewordis equally closest to the sampled codeword. Once the sampled codeword isdecoded to a shifted codeword, the shift of that codeword is known andthus the rotation of the tag with respect to the sampling orientationknown.

[0149] In addition to the six symbols which form the cyclic positioncodeword, at least an additional six symbols of adjacent tags' cyclicposition codewords are also visible within the field of view. At theadded expense of decoding these extra symbols, twelve symbols may beused to decode the cyclic position codeword. This may be done in twoways. In the first approach every erased symbol is simply replaced byits corresponding symbol from one of the other tags' cyclic positioncodewords, if the corresponding symbol has not itself been erased. Inthe second approach, all twelve symbols are treated as a twelve-symbolcodeword.

[0150] The cyclic position code can also be used to detect whether thetag has been acquired mirror reflected, e.g. when the tag is imagedthrough the back of a transparent substrate on which it is disposed.

[0151] 1.4 Local Codewords

[0152] The tag locally contains three complete codewords which are usedto encode information unique to the tag. Each codeword is of a punctured2⁴-ary (9, 5) Reed-Solomon code. The tag therefore encodes up to 60 bitsof information unique to the tag.

[0153] The layout of the three local codewords is shown in FIG. 7 inwhich codeword A is shown shaded.

[0154] 1.5 Distributed Codewords

[0155] The tag also contains fragments of three codewords which aredistributed across three adjacent tags and which are used to encodeinformation common to a set of contiguous tags. Each codeword is of apunctured 2⁴-ary (9, 5) Reed-Solomon code. Any three adjacent tagstherefore together encode up to 60 bits of information common to a setof contiguous tags.

[0156] The layout of the three codeword fragments is shown in FIG. 8.

[0157] The layout of the three complete codewords, distributed acrossthree adjacent tags, is shown in FIG. 9. In relation to thesedistributed codewords there are three types of tag. These are referredto as P, Q and R in order of increasing significance.

[0158]FIG. 10 shows how the P, Q and R tags are repeated in a continuoustiling of tags. The tiling guarantees the any set of three adjacent tagscontains one tag of each type, and therefore contains a complete set ofdistributed codewords. The tag type, used to determine the registrationof the distributed codewords with respect to a particular set ofadjacent tags, is encoded in one of the local codewords of each tag.

[0159]FIG. 11 shows the complete structure of three adjacent tags,including their orientation cyclic position codewords, local codewordsand distributed codewords.

[0160]FIG. 12 shows the geometry of a tag segment 708.

[0161]FIG. 13 shows the spacing d=(1−/{square root}{square root over(3)}/2)s between tag segments, required to maintain consistent spacingbetween macrodots. FIG. 14 shows the effect of the inter-segment spacingd on target position. Compared with their nominal positions in relationto closely-packed segments (i.e. with d=0), diagonal targets must bedisplaced by (Δ_(x), Δ_(y)) (±1/{square root}{square root over (3)},±1)d, and horizontal targets must be displaced by (Δ_(x),Δ_(y))=(±2/{square root}{square root over (3)}, 0)d

[0162] 1.6 Reed-Solomon Encoding

[0163] Both local and distributed codewords are encoded using apunctured 2⁴-ary (9,5) Reed-Solomon code.

[0164] A 2⁴-ary (9, 5) Reed-Solomon code encodes 20 data bits (i.e. five4-bit symbols) and 16 redundancy bits (i.e. four 4-bit symbols) in eachcodeword. Its error-detecting capacity is four symbols. Itserror-correcting capacity is two symbols.

[0165] A punctured 2⁴-ary (9, 5) Reed-Solomon code is a 2⁴-ary (15, 5)Reed-Solomon code with six redundancy coordinates removed.

[0166] The code has the following primitive polynominal:

p(x)=x ⁴ +x+1

[0167] The code has the following generator polynominal:

g(x)=(x+α)(x+α ²) . . . (x+α  )

[0168] For a detailed description of Reed-Solomon codes, refer toWicker, S. B. and V. K. Bhargava, eds., Reed-Solomon Codes and TheirApplications, IEEE Press, 1994.

[0169] 2. Tag Coordinate Space

[0170] The tag coordinate space 710 is defined by a pair ofsemi-orthogonal coordinates a and b. The nominal relationship betweenthe tag coordinate space and the surface x-y coordinate space isillustrated in FIG. 15.

[0171] The coordinates are necessarily only semi-orthogonal to ensurereproducibility of the tag pattern by intended printing devices (asdiscussed below under the heading “Encoding and PrintingConsiderations”).

[0172] To further assist intended printing devices, the surface coding,and hence the a-b coordinate space, is allowed to be rotated anarbitrary multiple of 90 degrees with respect to the x-y coordinatespace.

[0173] Given an anti-clockwise rotation R of the a-b coordinate spacewith respect to the x-y coordinate space, the relations between the twocoordinates spaces are: $\begin{matrix}{x = {{a\quad {\cos \left( {{30{^\circ}} - R} \right)}} - {b\quad {\sin \left( {{60{^\circ}} - R} \right)}}}} & \left( {{EQ}\quad 1} \right) \\{y = {{a\quad {\sin \left( {{30{^\circ}} - R} \right)}} + {b\quad {\cos \left( {{60{^\circ}} - R} \right)}}}} & \left( {{EQ}\quad 2} \right) \\{a = {\frac{x}{2\quad {\cos \left( {{30{^\circ}} - R} \right)}} + \frac{y}{2\quad {\sin \left( {{30{^\circ}} - R} \right)}}}} & \left( {{EQ}\quad 3} \right) \\{b = {\frac{- x}{2\quad {\sin \left( {{60{^\circ}} - R} \right)}} + \frac{y}{2\quad {\cos \left( {{60{^\circ}} - R} \right)}}}} & \left( {{EQ}\quad 4} \right)\end{matrix}$

[0174] Integer a and b coordinates are defined to intersect at thecentres of P tags, as illustrated in FIG. 16. The figure shows lines 714and 712 representing iso-lines of integer a and b coordinatesrespectively.

[0175] Note that the surface coding does not specify the location of thex-y (or a-b) origin on a particular tagged surface, or the orientationof the x-y (or a-b) coordinate space with respect to the surface. Itonly defines the relationship between the two coordinate spaces. Thismanifests itself in the x-y coordinates embedded in digital inkgenerated by a netpage sensing device used to interact with a netpagetagged surface.

[0176] 3. Tag Information Content

[0177] Table 4 defines the information fields embedded in the surfacecoding. Table 5 defines how these fields map to local and distributedcodewords. TABLE 4 Field definitions field width description tag type 2Defines whether the tag is of type P (b‘00’) Q (b‘01’) or R (b‘10’). tagformat 2 The format of the tag information, b‘00’ indicates the formatspecified in this table. All other values are reserved. local flag 1Indicates whether the region ID is owned by a local netpage system(b‘1’) or the global netpage system (b‘0’). active area map 7 A map¹ ofwhich of the tag and its immediate neighbours are members of an activearea; b‘1’ indicates membership. input area map 7 A map^(a) of which ofthe tag and its immediate neighbours are members of an input area; b‘1’indicates membership. coordinate 5 The precision of the a and bcoordinates; precision (w) valid range is 0 to 20. a coordinate w Thesigned a coordinate of the tag, (0 to 20) in sign-magnitude format. bcoordinate w The signed b coordinate of the tag, (0 to 20) insign-magnitude format. region ID 96-2 w The ID of the region containingthe tags. (96 to 56) Total 120 

[0178]FIG. 17 shows a tag and its six immediate neighbours, eachlabelled with its corresponding bit index in the active area map and theinput area map.

[0179] Since the top 55 bits of the region ID are encoded in distributedcodewords, they are by necessity constant for an entire contiguoustiling of tags. The bottom 41 bits, however, are encoded in localcodewords, and so may vary arbitrarily from one tag to the next.

[0180] For a particular surface coding, the number of bits dedicated tothe a and coordinates is configurable via the coordinate precisionfield. In this way the precision can be tuned to the size of the surfacebeing tagged, which in turn allows efficient use of a higher-precisionregion ID space. Region IDs can be allocated from the full-precision95-bit space, but with the constraint that for a particular coordinateprecision of w, the bottom 2 w bits of each allocated region ID must bezero. Almost equivalently, different-precision region IDs can beallocated from precision-specific pools, and each allocated region IDcan be indexed and looked-up in a pool-specific way. TABLE 5 Mapping offields to codewords field codeword width codeword bits field bits tagtype A 2 1:0 all tag format 2 3:2 all local flag 1 4 all active area map7 11:5  all input area map 7 18:12 all coordinate D 5 19:15 allprecision (w) a coordinate B w (w − 1):0 all b coordinate C w (w − 1):0all region ID D 15  14:0  95:81 E 20  19:0  80:61 F 20  19:0  60:41 A 119 40 B 20 − w 19:w² 39:(20 + w)^(a) C 20 − w 19:w^(a) (19 + w):2w^(a)

[0181] The active area map indicates whether the corresponding tags aremembers of an active area. An active area is an area within which anycaptured input should be immediately forwarded to the correspondingnetpage server for interpretation. It also allows the netpage sensingdevice to signal to the user that the input will have an immediateeffect.

[0182] The input area map indicates whether the corresponding tags aremembers of an input area, i.e. lie within the extent of a form. Itallows the netpage sensing device to signal to the user that the inputwill be submitted to an application.

[0183] 4. Encoding and Printing Considerations

[0184] The Print Engine Controller (PEC) (as disclosed in the presentApplicants' co-pending PCT application publication numbers WO01/89851—Print Engine/Controller and Printhead Interface ChipIncoroporating the Print Engine/Controller and WO 01/89838—Printed PageTag Encoder, the contents of both of which are herein incorporated byreference) supports the encoding of two fixed (per-page) 2⁴-ary (15, 5)Reed-Solomon codewords and six variable (per-tag) 2⁴-ary (15, 5)Reed-Solomon codewords. Furthermore, PEC supports the rendering of tagsvia a rectangular unit cell whose layout is constant (per page) butwhose variable codeword data may vary from one unit cell to the next.PEC does not allow unit cells to overlap in the direction of pagemovement.

[0185]FIG. 18 shows a preferred embodiment of a PEC unit cell 718compatible with the present surface coding, superimposed on a tiling oftags. FIG. 19 shows the proposed PEC unit cell superimposed on actual P,Q and R type tag structures. Note that the proposed unit cell iscentered horizontally on a P type tag. The tag structure and unit cellare designed so that the unit cell contains exactly six variablecodewords (i.e., for row n, R_(n):A, P_(n):A, Q_(n):A, {R,P,Q}_(n):B,{R,P,Q}_(n):C, and {R,P,Q}_(n+1):B), and three fixed codewords D, E andF.

[0186] At least one of codewords D, E and F must be-pre-encoded in theTag Format Structure (TFS) passed to PEC, since PEC only supports theencoding of two fixed codewords. Any or all of codewords D, E and Fcould be pre-encoded in the TFS.

[0187] PEC imposes a limit of 32 unique bit addresses per TFS row. Thecontents of the unit cell respect this limit, assuming pre-encoding ofD, E and F codewords.

[0188] PEC also imposes a limit of 384 on the width of the TFS. Thecontents of the unit cell respect this limit.

[0189] Note that for a reasonable page size, the number of variablecoordinate bits in the B and C codewords is modest, making encoding viaa lookup table tractable. Encoding of the A codeword via a lookup tablemay also be possible. Note that since a Reed-Solomon code is systematic,only the redundancy data needs to appear in the lookup table.

[0190] 5. Imaging and Decoding Considerations

[0191]FIG. 20 shows a preferred minimal imaging field of view 720required to guarantee acquisition of an entire tag, i.e. given arbitraryalignment between the surface coding and the field of view.

[0192] The diameter of the minimal field of view is 36 s.

[0193] Given the present tag structure, the corresponding decodingsequence is as follows:

[0194] locate targets of complete tag

[0195] infer perspective transform from targets

[0196] sample cyclic position code

[0197] decode cyclic position code

[0198] determine orientation from cyclic position code

[0199] sample local Reed-Solomon codewords

[0200] decode local Reed-Solomon codewords

[0201] determine tag type

[0202] determine tag rotation

[0203] sample distributed Reed-Solomon codewords (modulo windowalignment, with reference to tag type)

[0204] decode distributed Reed-Solomon codewords

[0205] determine coordinate precision

[0206] determine region ID

[0207] determine tag a-b location

[0208] transform tag a-b location to x-y location, with reference to tagrotation

[0209] infer 3D transform from oriented targets

[0210] determine nib x-y location from tag x-y location and 3D transform

[0211] determine active/input area status of nib location

[0212] generate local feedback based on nib active/input area status

[0213] encode region ID, nib x-y location, nib active/input area statusin digital ink

[0214]FIG. 21 shows a tag image processing and decoding process flow. Araw image 802 of the tag pattern is acquired (at 800), for example viaan image sensor such as a CCD image sensor, CMOS image sensor, or ascanning laser and photodiode image sensor. The raw image is thentypically enhanced (at 804) to produce an enhanced image 806 withimproved contrast and more uniform pixel intensities. Image enhancementmay include global or local range expansion, equalisation, and the like.The enhanced image 806 is then typically filtered (at 808) to produce afiltered image 810. Image filtering may consist of low-pass filtering,with the low-pass filter kernel size tuned to obscure macrodots but topreserve targets. The filtering step 808 may include additionalfiltering (such as edge detection) to enhance target features. Thefiltered image 810 is then processed to locate target features (at 812),yielding a set of target points. This may consist of a search for targetfeatures whose spatial inter-relationship is consistent with the knowngeometry of a tag. Candidate targets may be identified directly frommaxima in the filtered image 810, or may the subject of furthercharacterisation and matching, such as via their (binary or grayscale)shape moments (typically computed from pixels in the enhanced image 806based on local maxima in the filtered image 810), as described in U.S.patent application Ser. No. 09/575,154. The search typically starts fromthe center of the field of view. The target points 814 found by thesearch step 812 indirectly identify the location of the tag in thethree-dimensional space occupied by the image sensor and its associatedoptics. Since the target points 814 are derived from the (binary orgrayscale) centroids of the targets, they are typically defined tosub-pixel precision.

[0215] It may be useful to determine the actual 3D transform of the tag(at 816), and, by extension, the 3D transform (or pose) 818 of thesensing device relative to the tag. This may be done analytically, asdescribed in U.S. patent application Ser. No. 09/575,154, or using amaximum likelihood estimator (such as least squares adjustment) to fitparameter values to the 3D transform given the observedperspective-distorted target points (as described in P. R. Wolf and B.A. Dewitt, Elements of Photogrammetry with Applications in GIS, 3rdEdition, McGraw Hill, February 2000, the contents of which are hereinincorporated by reference thereto). The 3D transform includes the 3Dtranslation of the tag, the 3D orientation (rotation) of the tag, andthe focal length and viewport scale of the sensing device, thus givingeight parameters to be fitted, or six parameters if the focal length andviewport scale are known (e.g. by design or from a calibration step).Each target point yields a pair of observation equations, relating anobserved coordinate to a known coordinate. If eight parameters are beingfitted, then five or more target points are needed to provide sufficientredundancy to allow maximum likelihood estimation. If six parameters arebeing fitted, then four or more target points are needed. If the tagdesign contains more targets than are minimally required to allowmaximum likelihood estimation, then the tag can be recognised anddecoded even if up to that many of its targets are damaged beyondrecognition.

[0216] To allow macrodot values to be sampled accurately, theperspective transform of the tag must be inferred. Four of the targetpoints are taken to be the perspective-distorted comers of a rectangleof known size in tag space, and the eight-degree-of-freedom perspectivetransform 822 is inferred (at 820), based on solving the well-understoodequations relating the four tag-space and image-space point pairs (seeHeckbert, P., Fundamentals of Texture Mapping and Image Warping, MastersThesis, Dept. of EECS, U. of California at Berkeley, Technical ReportNo. UCB/CSD 89/516, June 1989, the contents of which are hereinincorporated by reference thereto). The perspective transform mayalternatively be derived from the 3D transform 818, if available.

[0217] The inferred tag-space to image-space perspective transform 822is used to project (at 824) the known position of each data bit of theorientation-indicating cyclic position codeword from tag space intoimage space where the real-valued position is used to bi-linearly (orhigher-order) interpolate (at 824) the four (or more) relevant adjacentpixels in the enhanced input image 806. The resultant macrodot value iscompared with a suitable threshold to determine whether it represents azero bit or a one bit. For sampling purposes, the spatial layout of theorientation-indicating cyclic position codeword is fixed, and isorientation-invariant.

[0218] Once the bits of the complete orientation-indicating cyclicposition codeword have been sampled, the orientation-indicating codewordis decoded (at 830), as previously described, to obtain the orientation832 of the tag relative to the sampling orientation.

[0219] The inferred tag-space to image-space perspective transform 822is used to project (at 834) the known position of each data bit of thelocal and distributed codewords from tag space into image space wherethe real-valued position is used to bi-linearly (or higher-order)interpolate (at 834) the four (or more) relevant adjacent pixels in theenhanced input image 806. The resultant macrodot value is compared witha suitable threshold to determine whether it represents a zero bit or aone bit. For sampling purposes, the spatial layout of the local anddistributed codewords is fixed, but is orientation-specific. Theorientation 832 is therefore used to determine the actual orientation ofthe layout.

[0220] Once the bits of one or more complete codewords have beensampled, the codewords are decoded (at 838) to obtain the desired data840 encoded in the tag. Redundancy in the codeword may be used to detecterrors in the sampled data, or to correct errors in the sampled data.

[0221] As discussed in U.S. patent application Ser. No. 09/575,154, theobtained tag data 840 may directly or indirectly identify the surfaceregion containing the tag and the position of the tag within the region.An accurate position of the sensing device relative to the surfaceregion can therefore be derived from the tag data 840 and the 3Dtransform 818 of the sensing device relative to the tag.

[0222] Conclusion

[0223] Although the invention has been described with reference to anumber of specific examples, it will be appreciated by those skilled inthe art that the invention can be embodied in many other forms.

1. Machine-readable coded data disposed on or in a substrate, the codeddata including a layout having order n rotational symmetry, where n isat least two, the layout having n identical sub-layouts rotated 1/nrevolutions apart about a center of rotation, the layout encoding afirst codeword comprising a sequence of an integer multiple m of n firstsymbols, where m is one or more, with each sub-layout definingrespective positions for each of m first symbols such that the m firstsymbols uniquely identify each sub-layout, and such that decoding thefirst symbols provided at one or more of the respective locations withineach sub-layout is indicative of the degree of rotation of the layout.2. Machine-readable coded data according to claim 1 wherein the codeddata comprises a second codeword comprising a number of second symbols,the second codeword being indicative of information regarding therespective layout.
 3. Machine-readable coded data according to claim 2wherein the second codeword is formed from at least n second symbols,each sub-layout defining the position of at least one of the secondsymbols.
 4. Machine-readable coded data according to claim 2 wherein thesecond codeword is indicative of at least one of: a layout type; aposition of the layout; an identity of a region containing the layout;and, at least one action associated with a region containing the layout.5. Machine-readable coded data according to claim 1 wherein each layoutis partially indicative of a third codeword.
 6. Machine-readable codeddata according to claim 5 wherein the third codeword comprises a numberof third symbols encoded within at least two layouts. 7.Machine-readable coded data according to claim 6 wherein the thirdcodeword is formed from at least p third symbols provided in q layouts,p/q sub-layouts of each layout defining the position of at least one ofthe third symbols.
 8. Machine readable coded data according to claim 1wherein the first symbols are positioned such that decoding the firstsymbols at each of n orientations produces n representations of thefirst codeword, each representation comprising a different cycle shiftof the first codeword, and being indicative of the orientation of thelayout.
 9. Machine-readable coded data according to claim 8 wherein thefirst codeword is sufficiently fault tolerant such that eachrepresentation of the first codeword can be accurately decoded even ifone of its first symbols is corrupted.
 10. Machine-readable coded dataaccording to claim 9 wherein the first codeword is sufficiently faulttolerant such that each representation of the first codeword can beaccurately decoded even if two or more of its first symbols arecorrupted.
 11. Machine-readable coded data according to claim 1, whereinthe layout are repeated on the substrate within a layout region. 12.Machine-readable coded data according to claim 11 wherein the layoutregion comprises a plurality of layouts of two or more layout types,each layout encoding its layout type.
 13. Machine-readable coded dataaccording to claim 12 wherein the number of layout types is one of2,3,4and
 6. 14. Machine-readable coded data according to claim 1,wherein the layouts are packed together on the substrate. 15.Machine-readable coded data according to claim 1, wherein each layout isany of the following in shape: linear; square; rectangular; triangular;or hexagonal.
 16. Machine-readable coded data according to claim 1,wherein n is one of 2, 3, 4 and
 6. 17. Machine-readable coded dataaccording to claim 1, wherein the target features are configured toenable perspective correction of the coded data of the, or each, layoutupon reading by the machine.
 18. Machine-readable coded data accordingto claim 1, including at least four of the target features. 19.Machine-readable coded data according to claim 1, the coded data beingprinted onto the substrate.
 20. Machine-readable coded data according toclaim 19, wherein the coded data is printed onto the surface in ink thatis of low-visibility or is invisible to an average unaided human eye.21. Machine-readable coded data according to claim 20, wherein the inkis an infrared ink that is substantially invisible to an average unaidedhuman eye.
 22. Machine-readable coded data according to claim 1, whereinthe coded data of each layout defines user data.
 23. Machine-readablecoded data according to claim 22, wherein the user data includeslocation data indicative of a position of the layout pattern relative toa region of the surface.
 24. Machine-readable coded data according toclaim 22, wherein the user data includes identification data identifyinga region of the surface within which the layout is disposed. 25.Machine-readable coded data according to claim 22, wherein the user dataincludes function data identifying a function to be performed uponreading of the layout pattern or sub- pattern by the machine.
 26. Asurface bearing machine-readable coded data in accordance with claim 1.27. A surface according to claim 26, the surface being flat or curved.28. A surface according to claim 26, further including visible markings.29. A surface according to claim 26, wherein the visible markingsinclude any one or more of the following: text; graphics; images; forms;fields; and buttons.
 30. A surface according to claim 28, wherein thevisible marking are disposed adjacent to, or coincident with, at leastsome of the coded data.
 31. A surface according to claim 26, the surfacebeing defined by a substrate.
 32. A surface according to claim 31,wherein the substrate is paper, card or another laminar medium.
 33. Asurface according to claim 26, configured for use as an interfacesurface for enabling user interaction with a computer.
 34. A method ofgenerating an interface surface, including the steps of: receiving, in aprinter, user data; generating machine-readable coded data incorporatingthe user data, in accordance with claim 22; and printing the coded dataonto a substrate.
 35. A method according to claim 34, further includingthe step of printing visible markings on the substrate.
 36. A methodaccording to claim 35, wherein the coded data and visible markings areprinted onto the substrate substantially simultaneously.
 37. A method ofusing a sensing device to read machine-readable coded data according toclaim 1, the method including the steps of. (a) reading, using thesensing device, the coded data of the layout; (b) decoding the codeddata of the layout, thereby determining at least a representation of thefirst codeword; and (c) using the representation of the first codewordto determine a degree of rotation of the layout.
 38. A method accordingto claim 37, wherein step (a) includes the substeps of: imaging thesubstrate to generate an image thereof; processing the image to locateone or more target features of the coded data; and on the basis of thelocated target features, determining a position of at least one of theencoded symbols of the first codeword.